Globally stable adaptive formation control of Euler-Lagrange agents via potential functions

This paper proposes a formation control strategy for uncertain Euler-Lagrange mobile agents based on artificial potential functions and robust adaptive control. A desired kinematic model is derived from a given potential function. The system parametric uncertainties and external disturbances are compensated by a robust adaptive control algorithm named binary adaptive control which combines the good transient properties and robustness of sliding mode control with the desirable steady-state properties of parameter adaptive systems. For a given communication graph, conditions for global stability of the multiagent system are established using a conveniently shaped Lyapunov function for centralized and partially decentralized control schemes.